Blender Game Engine: RayCast to get a point
The hitPosition of a Ray sensor will give you the coordinate of were a ray hits an object.

To use it, add a Ray sensor to the object and connect it to a Python controller.



Create a text block and enter the following script to access the hitPosition.

import bge

controller = bge.logic.getCurrentController()
owner = controller.owner
ray = owner.sensors["Ray"]

#world coordinates of where ray hit object
ray.hitPosition


Finally, enter the script name in the Python controller.